Robotic prosthesis alignment device and alignment surrogate device

ABSTRACT

A robotic prosthesis alignment device is disclosed that may automatically move the alignment of a prosthesis socket in relation to a prosthesis shank. The robotic prosthesis alignment device provides automatic translation in two axes. The robotic prosthesis alignment device includes angulation mechanics that automatically provide for plantarflexion, dorsiflexion, inversion, and eversion of the foot and shank with respect to the prosthesis socket. A surrogate device is also disclosed that can replicate the alignment achieved with the robotic prosthesis alignment device.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.12/502,162, filed Jul. 13, 2009, which claims the benefit of U.S.Provisional Application No. 61/080,120, filed on Jul. 11, 2008, each ofwhich applications is herein expressly incorporated by reference in itsentirety.

STATEMENT OF GOVERNMENT LICENSE RIGHTS

This invention was made with Government support under Grant Nos.RHD047119 and RHD055709, awarded by the National Institute of ChildHealth and Human Development. The U.S. Government has certain rights inthe invention.

BACKGROUND

Referring to FIG. 1, a conventional prosthesis 10 includes a prosthesissocket 60 into which the amputated limb is placed. The prosthesis socket60 is connected to a prosthesis shank 30. The prosthesis shank 30 isfurther connected to a prosthesis foot 20 which bears the weight andmakes contact with the ground. The conventional prosthesis 10 includesan adjustable connection, normally between the prosthesis socket 60 andthe prosthesis shank 30. For example, the prosthesis shank 30 can have acoupling 40 with an upper end having a concave hemispherical surface.The prosthesis socket can have a pyramid adaptor 50 at the lower endthereof which fits into an aperture provided in the concave surface ofthe coupling 40. The pyramid adapter 50 includes a surface curved tomatch the concave surface of the coupling 40. With this configuration,the prosthesis socket 60 can be articulated forward and backward andfrom side to side with respect to the prosthesis shank 30 and foot 20 toalign the prosthesis socket 60 and prosthesis shank 30 to an optimalposition that is both efficient and comfortable for the wearer of theprosthesis 10.

A computerized prosthesis alignment system is disclosed in U.S.Application Publication Nos. 2008/0139970 and 2008/0140221, incorporatedherein expressly by reference for all purposes. These applicationpublications disclose a torque sensor 104 and control module 106 thatprovide a means for manually aligning a prosthesis. See FIG. 4 of thepublications. The torque sensor 104 is incorporated with a pyramidadaptor (see FIG. 6A of the publications) that then attaches to thelower part of the prosthesis socket 60 and is capable of measuringforces experienced by the prosthesis socket 60. A computer system isthen able to analyze the forces and provide feedback to a prosthetistvia a graphical user interface, in the form of specific instructions foraligning the prosthesis to an optimum setting. For example, because thealignment of the pyramid adaptor is adjusted using four set screws(elements 117 a-d in FIG. 5 of the publications), the computer systemcan provide instructions, such as the amount of turns required of theset screws to achieve the proper alignment.

The referenced publications further disclose a method of maintaining thealignment once the optimal alignment is achieved. This method relies onthe use of a substitute pyramid adaptor that is dimensionally similar tothe torque sensor so that it can simply be substituted for the torquesensor. (See element 105 in FIG. 5 of the publications.) The method,however, relies on removing the set screws that hold the alignmentaccording to a specific sequence so as to transfer the substitutepyramid adaptor for the torque sensor without upsetting the previousalignment.

While the above-described computerized prosthesis alignment system is asignificant advance in this art, new improvements are continuously beingsought that enhance the ways in which a prosthesis can be aligned.

SUMMARY

This summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This summary is not intended to identify key features ofthe claimed subject matter, nor is it intended to be used as an aid indetermining the scope of the claimed subject matter.

The disclosure herein provides a robotic prosthesis alignment devicethat may be coupled to the prosthesis sensor (i.e., transducer)described above that can be controlled by a computer, including, but notlimited to, a wireless personal digital assistant (PDA) that enables theprosthetist or wearer to quickly and easily make controlled alignmentchanges to a prosthesis. Alternatively, software running on a computercan make the changes thus, creating an autonomously self-aligningprosthesis.

A robotic prosthesis alignment device is disclosed in a firstembodiment, comprising a translation assembly comprising a first slidedeck and a second slide deck that translates in a different direction tothe first slide deck; an angulation assembly comprising a first wedgeand a second wedge, each wedge being separately capable of rotation; andone or more drivers to move the first and second slide decks and rotatethe first and second wedges.

The device of the first embodiment, wherein the translation assemblyprovides displacement of an object attached to the translation assemblyalong a two dimensional plane.

The device of the first embodiment, wherein the angulation assemblyprovides displacement by tilting an object attached to the angulationassembly.

The device of the first embodiment, wherein the movement of the firstand second slide decks is linear.

The device of the first embodiment, wherein each wedge comprises acircular member that varies in height around the circumference.

The device of the first embodiment, further comprising, a driver havinga revolution counter and, a processor that correlates a translationalposition to the number of revolutions.

The device of the first embodiment, further comprising, a driver havinga revolution counter and, a processor that correlates an angularposition to the number of revolutions.

The device of the first embodiment, further comprising, a sensor foreach slide deck that measures the position of the slide deck and, aprocessor that determines the translational position from the sensormeasurement.

The device of the first embodiment, further comprising, a sensor foreach wedge that measures the position of the wedge and, a processor thatdetermines the angular position from the sensor measurement.

The features disclosed above can be used singly or in combination withany other one or more or all features of the device of the firstembodiment.

A prosthesis system is disclosed in a second embodiment, comprising aprosthesis socket for receiving an amputated limb; a prosthesis shankattached to the prosthesis socket; a prosthesis foot attached to thelower end of the prosthesis shank; and a robotic prosthesis alignmentdevice of the first embodiment attached at the joint between theprosthesis socket and the prosthesis shank and/or at the joint betweenthe prosthesis shank and the prosthesis foot, the robotic prosthesisalignment device comprising encoders that provide a translationalposition and angular position of the prosthesis.

The prosthesis of the second embodiment, wherein the robotic prosthesisdevice comprises a translation assembly that displaces the prosthesissocket in relation to the prosthesis foot along a two dimensional plane.

The prosthesis of the second embodiment, wherein the robotic prosthesisdevice comprises an angulation assembly that tilts the prosthesis socketin relation to the prosthesis foot.

The prosthesis of the second embodiment, wherein the robotic prosthesisdevice comprises, a driver having a revolution counter and, a processorthat correlates a translational position to the number of revolutions.

The prosthesis of the second embodiment, wherein the robotic prosthesisdevice comprises, a driver having a revolution counter and, a processorthat correlates an angular position to the number of revolutions.

The prosthesis of the second embodiment, comprising a driver having arevolution counter and a processor that correlates an angular positionto the number of revolutions.

The prosthesis of the second embodiment, comprising a sensor thatmeasures the linear position of the translation assembly.

The prosthesis of the second embodiment, comprising a sensor thatmeasures the angular position of the angulation assembly.

The prosthesis of the second embodiment, further comprising a computerin communication with the robotic prosthesis alignment device, whereinthe computer computes a gait cycle profile from the translational andangular position.

The prosthesis of the second embodiment, further comprising a memorydevice having stored therein correlations of linear positions andangular positions to a plurality of gait cycle profiles.

The prosthesis of the second embodiment, further comprising a torquesensor attached to the prosthesis that provides torque measurements togenerate a profile of a gait cycle.

The prosthesis of the second embodiment, wherein the computer compares agait cycle profile generated from translational and angular positions toa gait cycle stored in a database and, computes a translational positionand angular position that approximately matches the gait cycle profilestored in the database.

The features disclosed above can be used singly or in combination withany other one or more or all features of the prosthesis of the secondembodiment.

A method for automatically controlling the alignment of a prosthesis isdisclosed in a third embodiment, comprising measuring a firsttranslational and angular position of a mechanical joint on a prosthesisand providing the measurements to a computer; determining via thecomputer, a first gait cycle profile from the first translational andangular position of the mechanical joint; obtaining via the computer, asecond gait cycle profile stored in a computer memory; comparing via thecomputer, the first gait cycle profile to the second gait cycle profileand determining differences; calculating via the computer, a secondtranslational position and angular position calculated to reduce thedifferences between the first and second gait cycle profiles; and movingthe mechanical joint to the second translational position and angularposition.

The method of the third embodiment, comprising counting the revolutionsof a driver to determine the translational position of the mechanicaljoint.

The method of the third embodiment, comprising counting the revolutionsof a driver to determine the angular position of the mechanical joint.

The method of the third embodiment, comprising electronically sensingthe translational position and angular position of the mechanical joint.

The method of the third embodiment, wherein the first gait cycle profileis determined by searching a database having stored therein profiles ofgait cycles correlating to translational positions and angularpositions.

The method of the third embodiment, wherein the first gait cycle profileis determined by torque forces measured along the posterior/anteriorplane and right/left planes.

The method of the third embodiment, wherein the mechanical jointattaches a prosthesis socket to a prosthesis shank or a prosthesis shankto a prosthesis foot.

The method of the third embodiment, wherein the mechanical jointcomprises a robotic prosthesis alignment device, comprising atranslation assembly comprising a first slide deck and a second slidedeck that translates in a different direction to the first slide deck;an angulation assembly comprising a first wedge and a second wedge, eachwedge being separately capable of rotation; and one or more drivers tomove the first and second slide decks and rotate the first and secondwedges.

The features disclosed above can be used singly or in combination withany other one or more or all features of the method of the thirdembodiment.

A surrogate device for transferring an alignment to a prosthesis isdisclosed in a fourth embodiment, comprising a first wedge comprisingmarks, wherein the marks are determinative of a position on the wedge; asecond wedge comprising marks, wherein the marks are determinative of aposition on the wedge, wherein the first and second wedge arerotationally positionable with respect to each other such that aligninga mark of the first wedge with a mark on the second wedge results in apredetermined angular position.

The surrogate device disclosed in the fourth embodiment, wherein eachwedge generally defines a first and a second side tilted at an anglewith respect to each, wherein the side of one wedge is positionable on aside of the other wedge, the combined heights of the wedges resulting inan angle of tilting.

The surrogate device disclosed in the fourth embodiment, wherein thefirst wedge further comprises interlocking projections on the sidefacing the second wedge, and the second wedge comprises interlockingprojections on the side facing the first wedge.

The surrogate device disclosed in the fourth embodiment, furthercomprising a first deck comprising marks and a second deck comprisingmarks, wherein the marks are determinative of a position on the decks,wherein the first and second decks are translationally positionable withrespect to each other such that aligning a mark of the first deck with amark on the second deck results in a predetermined translationalposition.

The features disclosed above can be used singly or in combination withany other one or more or all features of the surrogate device of thefourth embodiment.

A method for maintaining the alignment of a prosthesis is disclosed in afifth embodiment, comprising setting the angular alignment of aprosthesis, wherein the angular alignment is controlled by a roboticdevice having first and second wedges that are automatically androtationally positionable with respect to each other; moving the wedgeswith respect to each other to achieve an alignment; taking a measurementof the positions of the two wedges in the alignment; assembling asurrogate device having first and second wedges that are assembled tocorrelate with the measured positions of the wedges of the roboticdevice to achieve an alignment achieved with the robotic device.

The method of the fifth embodiment, further comprising setting thetranslational alignment of the prosthesis, wherein the translationalalignment is controlled by a robotic device having first, second andthird slide decks that are automatically and translationallypositionable with respect to each other and taking a measurement of thepositions of the slide decks, and assembling the surrogate device havingtwo decks that are assembled to correlate with the measured positions ofthe slide decks of the robotic device.

The method of the fifth embodiment, wherein the position of the wedgesis taken by visually viewing the wedges.

The method of the fifth embodiment, wherein the position of the wedgesis taken by an encoder and computer providing the positions.

The method of the fifth embodiment, wherein the position of the slidedecks is taken by visually viewing the slide decks.

The method of the fifth embodiment, wherein the position of the slidedecks is taken by an encoder and computer providing the positions.

The features disclosed above can be used singly or in combination withany other one or more or all features of the method of the fifthembodiment.

This disclosure provides enabling technology for the difficultimplementation of telerehabilitation for patients in areas withoutadequate professional coverage.

DESCRIPTION OF THE DRAWINGS

The foregoing aspects and many of the attendant advantages of thisinvention will become more readily appreciated as the same become betterunderstood by reference to the following detailed description, whentaken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a diagrammatical illustration of a prior art prosthesis;

FIG. 2 is a diagrammatical illustration of a robotic prosthesisalignment device coupled to a torque sensor and control module inaccordance with one embodiment of the present disclosure;

FIG. 3 is a diagrammatical illustration of an exploded view of a portionof the robotic prosthesis alignment device in accordance with oneembodiment of the present disclosure;

FIG. 4 is a diagrammatical illustration of a cut-away view of a portionof the robotic prosthesis alignment device in accordance with oneembodiment of the present disclosure;

FIG. 5 is a diagrammatical illustration of an exploded view of a portionof the robotic prosthesis alignment device in accordance with oneembodiment of the present disclosure;

FIG. 6 is a diagrammatical illustration of an exploded view of a portionof the robotic prosthesis alignment device in accordance with oneembodiment of the present disclosure;

FIG. 7 is a diagrammatical illustration of the robotic prosthesisalignment device incorporated into a prosthesis including a prosthesisshank, prosthesis foot, and prosthesis socket in accordance with oneembodiment of the present disclosure;

FIG. 8 is a schematic illustration of the control scheme of a computerdevice in communication with the robotic prosthesis alignment device inaccordance with one embodiment of the present disclosure;

FIG. 9 is a diagrammatical illustration showing a representativecomputer used with the robotic prosthesis alignment device in accordancewith one embodiment of the present disclosure;

FIG. 10 is a diagrammatical illustration showing a first operationalmode of the robotic prosthesis alignment device in accordance with oneembodiment of the present disclosure;

FIG. 11 is a diagrammatical illustration showing a second operationalmode of the robotic prosthesis alignment device in accordance with oneembodiment of the present disclosure;

FIG. 12 is a diagrammatical illustration showing a third operationalmode of the robotic prosthesis alignment device in accordance with oneembodiment of the present disclosure;

FIG. 13 is a diagrammatical illustration of a graphical user interfaceof the first operational mode of the robotic prosthesis alignment devicein accordance with one embodiment of the present disclosure;

FIG. 14 is a diagrammatical illustration of a graphical user interfaceof the second operational mode of the robotic prosthesis alignmentdevice in accordance with one embodiment of the present disclosure;

FIG. 15 is a diagrammatical illustration of a graphical user interfaceof the third operational mode of the robotic prosthesis alignment devicein accordance with one embodiment of the present disclosure;

FIG. 16 is a graph showing a representative gait cycle profile of socketreaction forces along the anterior/posterior plane and a representativeoptimal gait cycle profile.

FIG. 17 is a flow diagram of a method for automatically performingself-alignment of a prosthesis;

FIG. 18 is a diagrammatical illustration of an exploded view of asurrogate device in accordance with one embodiment of the presentdisclosure;

FIG. 19 is a diagrammatical illustration of an exploded view of asurrogate device in accordance with one embodiment of the presentdisclosure; and

FIG. 20 is a flow diagram of a method of maintaining the alignment of aprosthesis with the use of a surrogate device.

DETAILED DESCRIPTION

Referring to FIG. 2, a robotic prosthesis alignment device 101 isdisclosed that can be coupled to the torque sensor 100 disclosed in theabove-referenced publications to automatically adjust the translationaland angular alignment of a prosthesis. However, the robotic prosthesisalignment device 101 can be used without the torque sensor 100. Thetorque sensor 100 includes an inverted pyramid adaptor that can becoupled to the top of the robotic prosthesis alignment device 101. Thepyramid adaptor has a four-sided protuberance that includes four flatsides. Typically, four set screws 103 are used to set the position ofthe pyramid adaptor and thus align the prosthesis. The base of thepyramid adaptor has a convex surface which rests on a concave surface,thus allowing articulation and adjustment in the left/right plane andthe front/back plane. Once the proper alignment is determined, the setscrews are tightened against the four-sided protuberance, thusmaintaining the alignment. The robotic prosthesis alignment device 101disclosed herein allows either a user, prosthetist or a computer to takecontrol and automatically perform the alignment. Thus, the set screws103 may now only be used for a rough alignment and the roboticprosthesis alignment device provides the fine alignment. In oneembodiment disclosed herein, the pyramid adaptor can be rigidly mated tothe robotic prosthesis alignment device 101. For example, the pyramidadaptor can be attached level to the top surface of the roboticprosthesis alignment device 101. The torque sensor 100 disclosed in theprior publications might be desirable for applications that may requirethe measurement of torque forces simultaneously with automaticadjustment. For example, the torque sensor 100 used in combination withthe robotic prosthesis alignment device 101 can be used to initiallyobtain a table or database of gait cycle profiles correlating tospecific lateral and angular positions. Once the database is created,the robotic prosthesis alignment device 101 can be used without thetorque sensor 100. In the latter embodiments, the robotic prosthesisalignment device can be adjusted by referencing a database thatcorrelates a specific lateral and angular position to a gait profile.For example, the database contains profiles of gait cycles correlatingto every specific lateral position and angular position that isattainable with the robotic prosthesis alignment device. In anotherembodiment, a pyramid adaptor and set screws may be omitted from theprosthesis and, all alignment can be made using the robotic prosthesisalignment device 101.

Referring to FIG. 2, the robotic prosthesis alignment device 101includes a translation assembly and an angulation assembly.Translational movement means movement in two directions which can beorthogonal to each other. Translational movement is movement on atwo-dimensional plane. Translational movement can be measured withrespect to a reference position, for example, a reference position mightbe defined as the position when the central axis of the prosthesis shankis concentric with the central axis of the pyramid adaptor at the bottomof the prosthesis socket. Angular movement is movement of an entireplane tilting with respect to a reference plane, such as the groundplane, or the reference plane to which the angle of tilting isreferenced might be defined when the central axis of the prosthesisshank is perpendicular to the plane made by the surface of the pyramidadaptor. However, lateral and angular movement can be defined in otherways.

The translation assembly comprises robotic slide decks including anupper slide deck 104, a middle slide deck 106, and a lower slide deck108. Referring to FIGS. 3 and 4, the assembly comprised of the slidedecks 104, 106, and 108 is for translation in two axes that areorthogonal to each other. The upper slide deck 104 may include thereceptacle or coupling for receiving the pyramid adaptor protuberancethat would normally be received by the top of the prosthesis shank. Themiddle slide deck 106 is positioned below the upper slide deck 104.Slide-locking means are provided at the interface of the upper slidedeck 104 and the middle slide deck 106. The slide-locking means caninclude a pair of interlocking rails, one disposed on the lower surfaceof the upper slide deck 104 and one disposed on the upper surface of themiddle slide deck 106. In one embodiment, the rails may be respectivelyconfigured similar to an elongated dovetail “mortise and tenon.” Theupper slide deck 104 includes a bore 124 within the tenon componentextending the length thereof and having an open channel for the entirelength at a lower section. A translation screw or worm gear, such astranslation screw 131 (FIG. 3) can be used to move slide deck 104 inrelation to slide deck 106. The translation screw 131 can be rotatedmanually. Once the desired translation is achieved, a set screw 133 canbe tightened to apply pressure to the side of the translation screw 131to prevent the translation screw 131 from further rotating. Instead ofoperating manually, the rotating motion can be provided by an actuatoror driver 117 that rotates translation screw 131. In either the manualor driven embodiment, the translation screw 131 is engaged to matingscrew slots 137 provided at one end of the mortise component of themiddle slide deck 106. The translation screw 131 is then able to engagethe slots 137 through the open channel in the bottom of the bore 124.Rotation of the translation screw 131 would then cause the upper slidedeck 104 to slide in relation to the middle slide deck 106. In anotherembodiment, as an alternative to the translation screw, a worm gear, oran Acme screw and nut can be used. In a still further embodiment, thesliding motion could be achieved with a “smart” screwdriver that underwireless command from a PDA, for example, would be used to drive thesliding decks assembly to the desired position, and then could bedetached from the assembly. Thus, automation and computer control ispossible without the burden of added weight or bulk to the leg. Theupper slide deck 104 includes an index mark 120. The middle slide deck106 includes a graduated scale 121 on a side thereof. The scale can bedivided according to any non-dimensional or dimensional units, such asinches or millimeters. Therefore, the amount of travel of the upperslide deck 104 and middle slide deck 106 can be determined by visuallynoting the location of the index mark 120 on the graduated scale 121 andwhether the movement is positive or negative. Alternatively, therelative position of the slide decks 104 and 106 can be determined by acomputer and processor. The latter can be achieved by receiving inputfrom the driver 117 and counting the revolutions of the driver thatcorrelate to a certain position. For example, the driver can be drivenin one direction to the limit of travel, the counter is initialized tozero and each revolution in the opposite direction can correlate to anincrement of travel. Also, switches and sensors, such as magneticsensors, can be used to measure the position of the slide deck travel.

The lower slide deck 108 is positioned below the middle slide deck 106.Slide-locking means are provided at the interface of the middle slidedeck 106 and the lower slide deck 108. The slide-locking means caninclude a pair of interlocking rails, one disposed on the lower surfaceof the middle slide deck 106 and one disposed on the upper surface ofthe lower slide deck 108. In one embodiment, the rails may berespectively configured similar to an elongated dovetail “mortise andtenon.” The rails at the interface between the middle slide deck 106 andthe lower slide deck 108 are placed perpendicular to the rails at theinterface of the middle slide deck 106 and the upper slide deck 104. Themiddle slide deck 106 includes a bore 122 within the tenon componentextending the length thereof and having an open channel 123 for theentire length at a lower section. A translation screw or worm gear, suchas translation screw 130 (FIG. 3) can be used to move slide deck 106 inrelation to slide deck 108. The translation screw 130 can be rotatedmanually. Once the desired translation is achieved, a set screw 135 canbe tightened to apply pressure to the side of the translation screw 130to prevent the translation screw from further rotating. Instead ofoperating manually, the rotating motion can be provided by an actuatoror driver 119 that rotates translation screw 130. In either the manualor driven embodiment, the translation screw 130 is engaged to matingscrew slots 139 provided at one end of the mortise component of thelower slide deck 108. The translation screw 130 is then able to engagethe slots 139 through the open channel 123 in the bottom of the bore122. Rotation of the translation screw 130 would then cause the middleslide deck 106 to slide in relation to the lower slide deck 108. Inanother embodiment, as an alternative to the translation screw, a wormgear, or an Acme screw and nut can be used. In a still furtherembodiment, the sliding motion could be achieved with a “smart”screwdriver that under wireless command from a PDA, for example, wouldbe used to drive the sliding decks assembly to the desired position, andthen could be detached from the assembly. Thus, automation and computercontrol is possible without the burden of added weight or bulk to theleg. The middle slide deck 106 includes an index mark 128. The lowerslide deck 108 includes a graduated scale 126 on a side thereof. Thescale can be divided according to any non-dimensional or dimensionalunits, such as inches or millimeters. Therefore, the amount of travel ofthe middle slide deck 106 and lower slide deck 108 can be determined byvisually noting the location of the index mark 128 on the graduatedscale 126 and whether the movement is positive or negative.Alternatively, the position of the slide decks 106 and 108 can bedetermined by a computer and processor. The latter can be achieved byreceiving input from the driver 119 and counting the revolutions of thedriver that correlate to a certain position. For example, the driver canbe driven in one direction to the limit of travel, the counter isinitialized to zero and each revolution in the opposite direction cancorrelate to an increment of travel. Also, switches and sensors, such asmagnetic sensors, can be used to measure the position of the slide decktravel.

Accordingly, by the use of the three slide deck components 104, 106, and108, it is possible to translate the pyramid adaptor, and thus, theprosthesis socket 60 attached to the robotic prosthesis alignment device101, to any coordinates in a two-dimensional or horizontal plane; thus,being able to adjust the lateral position of the prosthesis socket 60 inrelation to the position of the prosthesis shank 30 and foot 20.

Referring to FIGS. 2, 4, and 5, the robotic prosthetic alignment device101 further includes first 110 and second 112 angulation deckscomprising the angulation assembly. Each angulation deck includes ahousing 113, 115, respectively, within which a worm gear is provided ona side thereof, the worm gears being supported by appropriate bearingsin the housing. The worm gears 143, 141 are turned by drivers 114 and116, respectively. Each housing further supports a robotic wedge 140 and142 generally placed in the center thereof and adapted to rotate withinthe housing. The housing 113 of the upper angulation deck 110 has thewedge 142 supported on the lower slide of the housing 113, and thehousing 115 of the lower angulation deck 112 has the wedge 140 supportedon the upper side of the housing 115. As best seen in FIG. 5, the wedges142, 140 are circular. Each wedge may be viewed as defining an upperside plane and a lower side plane, wherein the planes are angled withrespect to each other. The upper side plane is separated from the lowerside plane, thus, each wedge may be viewed as having a low point (orsmall height dimension) on one side thereof and a high point (or largeheight dimension) on the opposite side thereof. When placed on top ofthe other, the sum of the wedge height dimensions is cumulative and theindividual wedge angles may increase the combined angle if the two highpoints and low points are aligned or the angles may cancel each otherwhen the high point of one wedge is aligned with the low point of theother wedge, effectively resulting in no angle or an angle of 0°. Thus,the use of the pair wedges 140, 142 may be used to tilt a plane at anyangle from 0° to the maximum angle when both high points are aligned.Further, because both circular wedges rotate, it is possible to effectsuch an angular position at any point of 360° of rotation. To enablerotation, each wedge 140, 142 has toothed gears around the circumferencethat mesh with the respective worm gear 141, 143. Each worm gear isdriven by a driver. The driver 114 can rotate worm gear 143 and thedriver 116 can rotate worm gear 141. Driver 114 is supported by motormount 155 to the housing 113 and motor mount 157 supports driver 116 tothe housing 115. Similar to drivers 117, 119 of the translationassembly, drivers 114 and 116 can include revolution counters thatthrough the use of a computer and processor can measure the position ofone wedge in relation to the other wedge. Each revolution can thencorrelate to an angle of tilting and to a position with respect to anydegree of rotation to measure precisely how much angular adjustment andits direction at any time. For example, a revolution of zero may beassigned to both drivers 114, 116 when the wedges 140 and 142 arealigned such that the high point of one wedge is aligned to a low pointof the other wedge, resulting in the minimum angle of tilt possible. Foreach revolution or number of revolutions of each driver 114, 116, theresulting angle can be recorded and a database can be generated of theangle, the position with respect to the front to back and side to sideplanes, and the revolutions of each driver 114, 116. Thus, to arrive ata certain angle of tilting of the prosthesis, the drivers 114, 116 canbe commanded to a certain revolution. Alternatively to countingrevolutions, sensors can be used to determine the position of one wedgewith respect to the other. To further enable rotation of the wedges 140,142, a turntable bearing 151 is provided between the interface of thelower surface of the upper wedge 142 and the upper surface of the lowerwedge 140. The upper surface of the upper wedge 142 is further incontact with the bottom surface of the housing 113 via a secondturntable bearing 153. The lower surface of the lower wedge 140 isfurther in contact with the upper surface of the housing 115 via a thirdturntable bearing 149. Accordingly, both the lower wedge 140 and theupper wedge 142 are permitted to rotate independently within theirrespective housing 115, 113 without causing rotation of the pyramidadaptor on top and tube clamp adaptor 40 below. As mentioned before,each angulation deck 110, 112 includes a worm gear that is coupled to atoothed gear provided around the circumference of each of the wedges. Asthe drivers rotate one or both of the wedges, the angle of tilting andits direction can be controlled. Combining different positions of thewedges 140, 142 varies the side-to-side angle and the front-to-backangle. Both the upper 142 and the lower 140 wedges may include agraduated scale along the periphery so that the position of one wedgewith respect to the other can be visually read. A surrogate device, asfurther discussed below, can have wedges 1402, 1404 that tilt whenrotated similar to the wedges 140, 142, and can be used to transfer theangular alignment. These surrogate wedges 1402, 1404 can have agraduated scale similar to the scale used in the wedges 140, 142. Usingthe reading obtained from the wedges 140, 142, the numerals on thescales of the surrogate wedges can be configured to line up similarlythus producing a similar alignment to the robotic prosthesis alignmentdevice 101. Any non-dimensional or dimensional units, such as degrees,can be used to measure the location of one wedge with respect to theother and with respect to the housings. Alternatively, the position ofthe wedge rings may be determined via a computer and processor. Thelatter may be accomplished by counting the revolutions of the drivers114 and 116 and correlating specific combinations of revolutions of eachdriver to a degree of tilting and to its direction. Alternativelysensors, such as a magnetic sensors can be used to measure the positionof the two wedges. Alternatively to having graduated scale on the wedges140, 142, the computer may provide a dimensionless number or numbersthat defines the position of the wedge 140 to the position of the wedge142. These numbers provided by the computer can then be used to align tosurrogate wedges 1402, 1404.

Because the wedges cause tilting during rotation, the translationassembly which is positioned on the top of the upper angulation deck 110is tilted along with the angulation assembly. To that end, and referringto FIG. 6, the bottom slide deck 108 of the translation assembly isconnected via a universal joint 160 to the tube clamp adaptor 40. Asshown in FIG. 5, the housings 113, 115, the wedges 140, 142, and thebearings 149, 151, 153, all have center bores allowing the passage ofthe universal joint therethrough.

Referring to FIG. 7, the robotic prosthesis alignment device 101 isshown incorporated into a prosthesis to connect the prosthesis socket 60to the prosthesis tube clamp adaptor 40. While FIG. 7 shows the torquesensor 100 and module 102 also attached to the prosthesis, it is notnecessary to use the torque sensor 100 and module 102 simultaneouslywith the robotic prosthesis alignment device 101. Further, although therobotic prosthesis alignment device 101 is shown at the joint betweenthe prosthesis socket 60 and prosthesis shank 30, the robotic prosthesisalignment device 101, as well as the torque sensor 100 and module 102,can also be located at the joint between the prosthesis shank 30 and theprosthesis foot 20, as well as having two robotic prosthesis alignmentdevices, one at the joint between the socket and shank and the other atthe joint between the shank and foot. Placing the robotic prosthesisalignment device 101 at the joint between foot 20 and shank 30 might bedesirable because small angular movements are not magnified by thelength of the shank 30.

Referring to FIG. 8, a schematic block diagram of the robotic prosthesisalignment device's 101 electronic connections is illustrated. As a pointof reference FIGS. 7 and 8 of the prior publications schematicallyillustrate the electronics of the torque sensor 100 and module 102 andwill not be illustrated herein for brevity. The computer disclosed inthe prior publications or a different computer 300 can becommunicatively coupled to the torque sensor 100 and module 102, andfurther capable of running prosthesis alignment software as disclosed inthe referenced publications, as well as also communicating with therobotic prosthesis alignment device 101 disclosed herein. The computerdevice 300 can be a handheld computer, such as a PDA, and is used toprovide the motor control logic 302 that drives the individual drivers114, 116, 117 and 119 that determine the setting of the transversesliding decks and also to set the angle using the angulation decks.Alternatively, the computer device 300 may also be an embeddedprocessor. The drivers 114, 116, 117, 119 are communicatively coupled toencoders that are further coupled to the computer 300. The motor controllogic 302 uses hardware that takes position data from the encoders,compares the current position using software running on computer 300against the position goal from the computer 300 software and drives themotors until the position goal and encoder outputs match. The computer300 may be a personal digital assistant (PDA) and may have wirelesstransmission capability, such as Bluetooth®. The PDA can transmitinstructions to the robotic prosthesis alignment device 101 to tilt theprosthesis socket in one or both planes and to translate the prosthesissocket in orthogonal directions. The computer 300 software, such asrunning on a PDA, can make decisions and run significant algorithmsrelating to the translation and rotation of the translating decks andwedges.

The applications running the robotic prosthesis alignment device 101 maybe described in the context of computer-executable instructions, such asprogram modules being executed by the host computer 300. Thecomputer-executable instructions or applications may be stored on one ormore computer readable medium, such as, but not limited to hard drives,memory, disks, and the like. Generally described, program modulesinclude routines, programs, applications, objects, components, datastructures and the like, that perform tasks or implement particularabstract data types. The following description provides a generaloverview of the computer 300 with which the method for automaticallyaligning a prosthesis may be implemented. Then, the method forautomatically aligning the prosthesis will be described, including theuse of applications on the computer. The illustrative examples providedherein are not intended to be exhaustive or to limit the invention tothe precise forms disclosed. Similarly, any steps described herein maybe interchangeable with other steps or a combination of steps or, bearranged in a different sequence in order to achieve the same result.

FIG. 9 illustrates an exemplary host computer 300 with components thatare capable of implementing an automatic method to align a prosthesis byconducting “gait analysis”. The gait analysis application 316 and thephase and step detection application 317 have been illustrated anddisclosed in the prior publications and will not be described herein forbrevity. The gait analysis application 316 and the phase and stepdetection application 317 can be used to generate a database 315 ofprofiles of gait cycles correlating to each lateral position and eachangular position attainable with the robotic prosthesis alignment device101. However, once the database 315 is created, a user of the roboticprosthesis alignment device 101 need not use the gait analysisapplication 316 and the phase and step detection application 317 forautomatically performing self-alignment of the prosthesis as furtherdisclosed below.

Those skilled in the art and others will recognize that the hostcomputer 300 may be any one of a variety of devices including, but notlimited to, personal computing devices, server-based computing devices,mini and mainframe computers, laptops, or other electronic deviceshaving some type of memory. The host computer 300 can also be anembedded processor located on the robotic prosthesis alignment device101. The host computer 300 depicted in FIG. 12 includes a processor 302,a memory 304, a computer-readable medium drive 308 (e.g., disk drive, ahard drive, CD-ROM/DVD-ROM, etc.), that are all communicativelyconnected to each other by a communication bus 310. The memory 304generally comprises Random Access Memory (“RAM”), Read-Only Memory(“ROM”), flash memory, and the like.

As illustrated in FIG. 9, the memory 304 stores an operating system 312for controlling the general operation of the host computer 300. Theoperating system 312 may be a special purpose operating system designedfor the computerized prosthesis alignment system 100. Alternatively, theoperating system 312 may be a general purpose operating system, such asa Microsoft® operating system, a Linux operating system, or a UNIX®operating system. In any event, those skilled in the art and others willrecognize that the operating system 312 controls the operation of thehost computer 300 by, among other things, managing access to thehardware resources and input devices. For example, the operating system312 performs functions that allow a program to receive data wirelesslyover a radio receiver and/or read data from the computer-readable mediadrive 308. As described in further detail below, moment and axial loaddata in real time may be made available to the host computer 300 fromthe master unit module 102 and from the computer-readable medium drive308. In this regard, a program installed on the host computer 300 mayinteract with the operating system 312 to process the data received fromone or both the master unit module 102 and the computer-readable mediadrive 308.

As further depicted in FIG. 9, the memory 304 additionally storesprogram code in the form of applications. The gait analysis application316 includes computer-executable instructions that, when executed by theprocessor 302, applies an algorithm to receive, display, and processinput, including moment and axial load data. The gait analysisapplication 316, among other things, applies an algorithm to a set ofmoment data to correct for any horizontal rotational deviation of thetorque sensor 100 during walking to the actual line of progression andthen compares the corrected data to an optimal model of alignment storedon a device 318. The step and phase detection application 317 applies analgorithm to a set of moment and axial data to determine if theprosthesis is being used in steady state walking, and if it is, thealgorithm differentiates each step on the prosthesis and extracts themoment data beginning each step at initial contact and ending each stepat the following initial contact in the gait cycle. Further, the stepand phase detection application 317 establishes if the prosthesis iseither in stance or swing phase of a gait cycle at each data pointextracted for each step. The gait analysis application 316 and the phaseand step detection application 317 have been illustrated and disclosedin the prior publications and these applications may be implemented bythe host computer 300 disclosed herein or by a different computer togenerate that database 315 mentioned above. Self or automatic alignmentis a goal of methods disclosed herein. The self-aligning automaticalignment application 319 performs a set of operations, without the useof the torque sensor 100 and module 102 that can automatically align theprosthesis with the use of the drivers. The application 319 is describedin association with the flow diagram of FIG. 17 below.

Referring to FIGS. 10, 11, and 12, the computer 300 may operate in oneof three modes. A first mode (FIG. 10) is for the robotic prosthesisalignment device 101 to interface with a prosthetist 801 with the use ofa computer 300, a second mode (FIG. 11) is for the user 803 to interfacewith the robotic prosthesis alignment device 101 with the computer 300,and the third mode (FIG. 12) is for the robotic prosthesis alignmentdevice 101 to interface automatically with a computer, such as computer300, either with user interface or without user interface, such as in aself-aligning automatic mode.

FIG. 13 is an illustration of a representative graphical user interface1101 for the first mode. The interface 1101 includes buttons 1102 usedfor selecting between prosthetist, user, and the computerized prosthesisalignment system. In FIG. 13, the prosthetist button is highlighted,indicating that the graphical user interface is customized for aprosthetist. The graphical user interface 1101 presents to theprosthetist, a figure illustrating both a side view and a front or backview of the prosthesis, including the socket, the robotic prosthesisalignment device 101, and the shank and foot. Referring to the left sideof the figure, in the side view, the prosthetist is able to view theforward or backwards translation and also the front/back angle. Theprosthetist is presented with a minus button 1104 and a plus button 1106for adjusting the pitch angle or the front to back angle. Selecting theminus button 1104 decreases the angle. Alternatively, selecting the plusbutton 1106 will increase the angle. The prosthetist is presented with aminus button 1108 and a plus button 1110 for adjusting the forwards andbackwards translation. Selecting the minus button 1108 decreases thedistance that the shank with foot translates backwards. Alternatively,selecting the plus button 1110 increases the distance that the shankwith foot translates forwards. When the prosthetist is satisfied withthe settings, the prosthetist can select a DO IT button 1112, and thechanges are executed by the robotic prosthesis alignment device 101.Referring to the right side of the figure, in the front or back view,the prosthetist is able to view the side-to-side translation and alsothe roll angle or the side to side angle. The prosthetist is presentedwith a minus button 1114 and a plus button 1116 for adjusting the angle.Selecting the minus button 1114 decreases the angle. Alternatively,selecting the plus button 1116 will increase the angle. The prosthetistis presented with a minus button 1118 and a plus button 1120 foradjusting the side translation. Selecting the minus button 1118 willdecrease the distance that the shank with foot will translate medially(towards the middle of the body). Alternatively, selecting the plusbutton 1120 will increase the distance that the shank with foot willtranslate laterally (towards the outside of the body). When theprosthetist is satisfied with the settings, the prosthetist can selectthe DO IT button 1112, and the changes are executed by the roboticprosthesis alignment device 101. The graphical user interface 1101 alsopresents to the prosthetist choices for the responsiveness of movements.The user is presented with a fast 1122, normal 1124 and fine tune 1126button to select responsiveness from the robotic prosthesis alignmentdevice 101. The graphical user interface 1101 may present a prioralignment button 1128. By selecting the prior alignment button 1128, thecomputer supporting the graphical user interface recalls from memory theimmediate prior alignment. The graphical user interface 1101 may presenta Reset to Neutral button 1129. By selecting the Reset to Neutral button1129, the robotic prosthesis alignment device may return all alignmentsto the home or neutral position.

FIG. 14 is an illustration of a representative graphical user interface1230 for the second mode for a user, i.e., the wearer, of theprosthesis. The graphical user interface 1230 may present to the user asensation-oriented interface. In this mode, the graphical user interfacewill prompt the user regarding their sensations during walking, such aswhether the user feels their knee was being pushed in a certaindirection as they stepped on the prosthesis. In one embodiment, thegraphical user interface 1230 presents to the user a series of questionsconcerning the sensations that the user is experiencing to which theuser can reply by selecting a minus button 1232 or a plus button 1234.For instance, one example of a question presented to a user may read,“At the end of the step on my prosthesis . . . ?” And the response canbe a selection of two options; “my knee is falling forward. There isinadequate support at the end of the step” or, “my knee is being pushedback. There is resistance to walking forward.” By selecting the negativebutton 1232 or the plus button 1234, the user can select which of thetwo options most closely matches the sensation being felt. Selecting theplus button 1234 moves the pointer 1236 in the direction of the secondsensation, while selecting the minus button 1232 moves the pointer 1236in the direction of the first sensation. The range of the pointer mightcoincide with the range of available adjustment, i.e., either thetranslational or angular adjustment or both. In this manner, the userprovides a response that correlates most closely to the actual sensationbeing experienced by the user. When the changes have been entered, theuser may select the DO IT button 1112 and the changes are executed bythe robotic prosthesis alignment device 101.

FIG. 15 is an illustration of a graphical user interface 1350 for thethird mode when the computer 300 operates the robotic prosthesisalignment device 101. The graphical user interface 1350 may present asetup page. In the setup page, the graphical user interface 1350 maypresent a Sensor Mounting button 1352, a Sensor Initialization button1354, and a Line of Progression button 1356. These operations have beendisclosed in the referenced publications. The graphical user interface1350 may perform the alignment method as disclosed in theabove-referenced applications by selection of the Analyze button 1360.This alignment method uses the gait analysis application 316 and thestep and phase detection application 317 already disclosed in thereferenced publications. However, in the present disclosed graphicaluser interface 1350 herein, instead of presenting the user orprosthetist with instructions on turning the set screws, the graphicaluser interface 1350 may present a suggestion 1358, such as degrees ofplantarflexion, dorsiflexion, inversion, eversion and/or distance oftranslation in either the lateral or medial direction. By selecting theDO IT button 1112, the suggestion is executed by the robotic prosthesisalignment device 101. Furthermore, the suggestions generated by thedisclosed method can be implemented automatically to provide aself-aligning prosthesis. A self-aligning prosthesis will not depend onthe person to execute the movement to align the prosthesis, but willautomatically move the prosthesis to the selected alignment. Theself-aligning prosthesis option can be turned off by the user ifdesired. The method disclosed herein for providing suggestions that areexecuted by the person or automatically is described in association withFIG. 17 below.

Before discussing the self-aligning method, a profile of a gait cycle isbriefly described with reference to FIG. 16. A representative profile ofa gait cycle is shown as curve 1601 in the anterior/posterior socketreaction graph. The right/left socket reaction graph may also beprepared for a gait cycle. A gait cycle profile represents a repeatingunit of the walking motion, for example, from initial contact (IC) ofthe heel of one foot to the subsequent initial contact of the heel ofthe same foot. The gait cycle of one foot includes a stance phase whenthe foot is in contact with the ground. The gait cycle includes a swingphase when the foot is not in contact with the ground. Initial contactis the start of the stance phase when the heel makes contact with theground. Toe-off (TO) is the end of the stance phase when the toe leavesthe ground. The swing phase occurs after toe-off and before initialcontact of the heel. One swing phase and one stance phase complete agait cycle. There are torques associated with each gait cycle along theposterior to anterior and right to left. These torques can be measuredby the torque sensor 100 disclosed in the prior publications. From thesereadings a gait cycle profile can be generated for anterior/posteriorsocket reaction forces and for right/left socket reaction forces plottedagainst the stance phase from initial contact to toe-off. A theoreticaloptimum gait cycle profile is disclosed in the prior publications. Thisoptimum gait cycle profile is represented by curve 1602.

Referring to FIG. 17, a method for automatically controlling thealignment of a prosthesis is schematically illustrated. FIG. 17 is amethod that can automatically perform self-alignment of the prosthesis.The method starts at block 1700. From block 1700, the method entersblock 1702. Block 1702 is for measuring the translational and/or angularpositions of the current prosthesis alignment. For example, thetranslation assembly and the angulation assembly disclosed above mayinclude various ways of determining the position by encoders, such as bycounting the revolutions of a driver that moves a gear of either thetranslation assembly or the angulation assembly. In addition, a sensormay be mounted in a position on the translation assembly or theangulation assembly that provides a current position. From block 1702,the method enters block 1704. In block 1704, a current gait cycle isobtained. For example, the gait cycle can be obtained from thetransducer 100 measuring torque forces and producing a real-time gaitcycle using the gait analysis application 316 and the phase and stepdetection application 317. Alternatively, the database 315 of FIG. 9 canbe accessed. The database 317 can contain a look-up table thatcorrelates translational positions and angular positions to specificgait cycles. For example, the table can be generated beforehand, such asby moving the translation assembly throughout its range in both the twoorthogonal directions and obtaining a profile of a gait cycle at eachincremental adjustment while the angular adjustment is held constant.Once all the possible combinations of translations in two directions aredetermined for one angular position, the angular position can be changedone increment, and the range of translations is performed, until allpossible translation and angular positions are tested. The profiles ofgait cycles correlating to a specific angulation position can also beprepopulated in the database. For example, a gait cycle can be measuredusing the torque sensor for each incremental adjustment of a wedge. Inthe end, a database that has a profile of a gait cycle correlating toevery translational position at every possible angle can be created.From step 1704, the method enters step 1708. In step 1708, an optimalprofile of a gait cycle can be obtained. For example, the optimal gaitcycle profile can be obtained from a database 318 (FIG. 9). The optimalgait cycle is calculated from the equations and methods disclosed in theprior publications.

From step 1708, the method enters step 1712. In step 1712, the currentgait cycle is compared to the optimal gait cycle and a difference isdetermined that is defined as the misalignment. Various mathematicalalgorithms can be used to compare one plot of a gait cycle againstanother.

One embodiment for calculating the difference or misalignment betweenthe current alignment and the optimal alignment may be to compare one ormore of the gait variables against the alignment model calculated from alarger database of gait variables collected from multiple and differentpatients from numerous prior sessions and stored in the device of thehost computer 300. To analyze for the misalignment, certain “gait”variables are calculated for a step. Gait variables may include, but arenot limited to some or all of, the anterior/posterior moment andright/left moment at each 20 percent increment in time of the stancephase from 0% to 100%; the maxima and minima of the anterior/posteriormoment and right/left moment for the first and the last 50% of thestance phase; the slope of the change in anterior/posterior moment andright/left moment during each successive 20% time increment; and theintegrated anterior/posterior moment and right/left moment measured overthe period of each stance phase. The gait variables are then applied toa predefined model of alignment. The equations used in deriving themodel of alignment are derived heuristically to minimize an externalcriterion called the Prediction Error Sum of Squares, or PESS, forpreviously measured socket reaction moments and axial force with a knownset of geometric misalignments.

${PESS} = {\frac{1}{N}{\sum\limits_{t = 1}^{N}\; \left( {y_{t} - {f\left( {x_{t},{\hat{a}}_{t}} \right)}} \right)^{t}}}$

Where N is the number of gait variable samples available, y is thetarget geometric misalignment, and a is an estimation of the combinedparameters that describe the misalignment. The equation derivations areachieved using the Group Method of Data Handling described by Madala andIvakhnenko (Madala, H., and Ivakhnenko, A., “Inductive LearningAlgorithms for Complex Systems Modeling,” CRC Press, Boca Raton, Fla.,USA, 1994). Solving the derived model equations with the gait variablescalculated from the computerized prosthesis alignment system 100 data,results in a numeric estimation of the geometric misalignment in theprosthesis measured. For robustness, estimations from each of theequations becomes a vote added to a more generalized estimation of themisalignment.

From step 1712, the method enters step 1714. In step 1714, adetermination is made as to whether the current gait cycle is acceptablein comparison to the optimal gait cycle. In block 1714, checking whetherthe alignment is okay might compare the current gate cycle to theoptimal gate cycle and if the difference between the current gait cycleto the optimal gait cycle is below a threshold limit, the current gaitcycle is identified as being acceptably close to the optimal gait cycleand the alignment is acceptable. If the determination is “yes,” themethod enters block 1716 and the alignment is complete, thus terminatingthe method. If the determination in block 1714 is “no,” the methodenters block 1720. In block 1720, the method selects a new transitionaland/or angular position to match the optimal gait cycle. To select a newtransitional and/or angular position to match the optimal gait cycle,the method can search the database 315 for a gait cycle that matches orapproximates the optimal gait cycle. When the gait cycle is found, thelook-up table will provide the translational coordinates and the angularcoordinates that are correlated to the gait cycle. For example, this canbe provided in the form of a number of driver revolutions correspondingto certain lateral and angular positions and/or to a voltage orresistance of a particular sensor corresponding to certain lateral andangular positions. Once the lateral and angular positions are know,these can be provided in the form of a suggestion 1358 as shown in FIG.15 or the method can simply move the prosthesis automatically with theuse of drivers without further input. From block 1720, the method entersblock 1722. In block 1722, the computer 300 provides instructions tomove the translation and angulation assemblies to the new positions. Atthis point, the method can terminate, thus assuming that the newpositions will provide the closest match to the optimal gait cycleprofile. Alternatively, the method can return to block 1702 andre-measure the translational and angular positions for verification andthe method runs through steps 1704, 1708, 1712, and 1714 again to testwhether the new position is in fact resulting in the desired optimalalignment.

Once an optimal alignment is achieved by any of the three modes, therobotic prosthesis alignment device 101 may need to be removed from theprosthesis along with the torque sensor 100. However, removal of thetorque sensor 100 and the robotic prosthesis alignment device 101 shouldpreferably be accomplished without losing the optimal alignment. To dothis as disclosed in the prior publications, a substitute pyramidadaptor was used that had the same physical dimensions as the torquesensor. Two set screws were removed, which left two set screws in theoptimal alignment position. With two set screws removed, the torquesensor/pyramid adaptor could be disassembled from the prosthesis.Thereafter, the substitute pyramid adaptor could be substituted for thetorque sensor without losing the alignment. However, a drawback withthis method is that the alignment cannot be transferred to a differentprosthesis. Disclosed herein is a surrogate device that can be used toachieve the same alignment after the robotic prosthesis alignment device101 is removed from the prosthesis. As disclosed herein, the roboticprosthesis alignment device 101 calculates the angular and translationalpositions and these can be provided as numerical indexes, either byvisually inspecting the device once alignment is reached or the computer300 may provide the angle and translation positions in units or numbers.The numerical indexes can be provided visually by viewing the positionsof the translation and angulation assemblies via a index mark and agraduated scale or can be provided by computations performed by thecomputer 300 and displayed on a graphical user interface, such as shownin the suggestion box 1358 of FIG. 15. The numerical indexes thenprovide a means for transferring the alignment with the use of asurrogate device after the robotic prosthesis device 101 has beenremoved. The surrogate device is an intermediate component that connectsthat prosthesis shank to the prosthesis socket. The surrogate device isdesigned to duplicate the range of alignment that is achieved with therobotic prosthesis alignment device 101 and can directly replace thegeometry of the robotic prosthesis alignment device 101.

Referring to FIG. 18, the surrogate device includes a modified tubeclamp adaptor 1400, a first wedge 1402 and second 1404 wedge, and a topcoupling plate 1406. The wedge rings 1402 and 1404 can be color codedand made by injection molding a ultrahigh molecular weight polyethyleneor a similarly appropriate resin. The tube clamp adaptor 1400 includesan upper surface designed to mate to the bottom surface of the wedgering 1404. The tube clamp adaptor 1400 can be attached to the prosthesisshank. Each of the wedge rings 1402, 1404 includes a graduated scale1411 along the circumference. The wedge rings 1402, 1404 have a lowpoint and a high point that is directly opposite from the low point. Onemajor surface of each wedge ring 1402, 1404 includes interlockingfeatures. When assembled, the interlocking surfaces of the wedges 1402,1404 are positioned against each other. The robotic prosthesis alignmentdevice 101 includes wedges that could rotate in relation to one anotherto set the angular adjustment of the prosthesis. The wedges of therobotic prosthesis alignment device 101 may include indices on thecircumference of the wedge rings that coincide with the indices of thewedges 1402, 1404 of the surrogate. In this manner, once alignment iscompleted, the indices are visually read from the robotic prosthesisalignment device 101 directly from the wedges 140 and 142 and then, thesurrogate wedges 1402, 1404 are aligned so that the indices of thesurrogate wedges 1402, 1404 are in the same alignment as the wedges 140,142 to duplicate the angular adjustment. In another embodiment, thecomputer 300 includes software that can calculate the dimensionlessindices to be used in the surrogate that match the angular alignmentdeemed to be optimal. For example, degrees of angular adjustment can becorrelated to a numerical scale. As an example, an alignment of 3°inversion of the foot coupled by 2.5° plantarflexion may be duplicatedby orienting the two interlocking wedge rings 1402 and 1404 so that thenumber 13 on the white ring is matched to the number 15 on the red ring.The interlocking teeth in the two rings maintain the alignment while theuser tightens a clamping bolt. The tube clamp adaptor 1400 surfaceincludes an index pin 1408 that fits into a slot in the lower surface ofthe wedge ring 1404. The wedge ring 1404 includes an index mark 1410 onthe circumference of the ring that can be the high point in the ring,and which is aligned to the index mark 1410 on the tube clamp adaptor1400. The surrogate includes a top coupling plate 1406. The top couplingplate 1406 is used to attach the surrogate to the base of the prosthesissocket.

Referring to FIG. 19, the surrogate device may also include a horizontalcomponent. The horizontal component would be used in a prosthesis, ifhorizontal translation was used in alignment. Otherwise, a simple spacermay be added to the surrogate to achieve correct length, i.e., height.The horizontal component of the surrogate includes an upper surrogatedeck 1502 and lower surrogate deck 1504. The upper surface of the lowerdeck 1504 and the lower surface of the upper deck 1502 include lockingfeatures. The surfaces having the locking features are placed in contactwith each other. The lower deck 1504 includes a slot that has a lengthgreater than the width. The upper deck 1502 includes a slot that has alength greater than the width. In use, the lower deck 1504 and the upperdeck 1502 will be placed so that the respective slots are perpendicularto one another. The lower deck 1504 includes an index mark 1506 on oneside of the deck 1504 and a graduated scale 1508 on the adjacent side.The upper deck 1502 includes an index mark 1510 on one side of the deckand a graduated scale 1512 on the adjacent side. The scales 1508 and1512 are dimensionally similar to the scales 121, 126 used on the middle106 and lower 108 slide decks to be able to directly transfer thealignment to the surrogate. As disclosed herein, the robotic prosthesisalignment device 101 includes a first, second, and third deck in astacked arrangement. As also disclosed, the upper deck 104 includes anindex mark 120, the middle deck 106 includes a graduated scale 121 andan index mark 128, and the lowest deck 108 includes a graduated scale126. Therefore, with the use of the robotic prosthesis alignment device101, the translation can be visually read directly from the scales ofthe middle 106 and lower 108 decks. These readings can then betransferred directly to the upper 1502 and the lower 1504 decks of thesurrogate to maintain the same translation that was achieved with theuse of the robotic prosthesis alignment device 101. In the horizontalcomponent of the surrogate, the top deck 1502 alignment rotation islocated by the four-bolt attachment to the prosthesis socket, while theprosthesis shank is located by marking the shank at the slot of the tubeclamp of the actuator, then matching the mark on the shank to the slotin the surrogate tube clamp.

FIG. 20 discloses the method of performing the transfer of thetranslational and angular alignment from the robotic prosthesisalignment device 101 to the surrogate device. The method starts at startblock 2000. From start block 2000, the method enters block 2002. Inblock 2002, the method uses the robotic prosthesis alignment device totranslationally and angularly align the prosthesis in accordance withthe method described in association with FIG. 17 using the roboticwedges 140, 142 and the robotic slide decks 104, 106 and 108. Whenalignment is completed, the method enters block 2004. In block 2004, thepositions of the robotic wedges 140, 142 and of the robotic slide decks104, 106 and 108 are read, either visually or through the use of acomputer 300 and software that will provide a position or numericalindex denoting the translational and angular positions of the roboticwedges 140, 142 and the robotic slide decks 104, 106, and 108. Fromblock 2004, the method enters block 2006. In block 2006, the methodrelies on a user or prosthetist to construct a surrogate device usingthe surrogate wedges 1402 and 1404 and/or the surrogate decks 1502 and1504. The surrogate is constructed such that the surrogate wedges 1402and 1404 are placed in a manner to duplicate the angular alignmentachieved using the robotic wedges 140, 142 and the surrogate decks 1502and 1504 are placed in a manner to duplicate the translational alignmentusing the robotic slide decks 104, 106 and 108. When constructed in suchmanner, the surrogate device can replace the robotic prosthesisalignment device 101 in the same or different prosthesis. The advantagebeing that the alignment is not lost and can be retained with the use ofa surrogate device.

While illustrative embodiments have been illustrated and described, itwill be appreciated that various changes can be made therein withoutdeparting from the spirit and scope of the invention.

1. A robotic prosthesis alignment device, comprising: a translation assembly comprising a first slide deck and a second slide deck that translates in a different direction to the first slide deck; an angulation assembly comprising a first wedge and a second wedge, each wedge being separately capable of rotation; and one or more drivers to move the first and second slide decks and rotate the first and second wedges.
 2. The device of claim 1, wherein the translation assembly provides displacement of an object attached to the translation assembly along a two dimensional plane.
 3. The device of claim 1, wherein the angulation assembly provides displacement by tilting an object attached to the angulation assembly.
 4. The device of claim 1, wherein the movement of the first and second slide decks is linear.
 5. The device of claim 1, wherein each wedge comprises a circular member that varies in height around the circumference.
 6. The device of claim 1, further comprising a driver having a revolution counter and a processor that correlates a translational position to the number of revolutions.
 7. The device of claim 1, further comprising a driver having a revolution counter and a processor that correlates an angular position to the number of revolutions. 8-9. (canceled)
 10. A prosthesis system, comprising: a prosthesis socket for receiving an amputated limb; a prosthesis shank attached to the prosthesis socket; a prosthesis foot attached to the lower end of the prosthesis shank; and a robotic prosthesis alignment device of claim 1 attached at the joint between the prosthesis socket and the prosthesis shank and/or at the joint between the prosthesis shank and the prosthesis foot, the robotic prosthesis alignment device comprising encoders that provide a translational position and angular position of the prosthesis. 11-17. (canceled)
 18. The prosthesis of claim 10, further comprising a computer in communication with the robotic prosthesis alignment device, wherein the computer computes a gait cycle profile from the translational and angular position.
 19. The prosthesis of claim 18, further comprising a memory device having stored therein correlations of linear positions and angular positions to a plurality of gait cycle profiles.
 20. The prosthesis of claim 18, further comprising a torque sensor attached to the prosthesis that provides torque measurements to generate a profile of a gait cycle.
 21. The prosthesis of claim 18, wherein the computer compares a gait cycle profile generated from translational and angular positions to a gait cycle stored in a database and computes a translational position and angular position that approximately matches the gait cycle profile stored in the database.
 22. A method for automatically controlling the alignment of a prosthesis, comprising: measuring a first translational and angular position of a mechanical joint on a prosthesis and providing the measurements to a computer; determining, via the computer, a first gait cycle profile from the first translational and angular position of the mechanical joint; obtaining, via the computer, a second gait cycle profile stored in a computer memory; comparing, via the computer, the first gait cycle profile to the second gait cycle profile and determining differences; calculating, via the computer, a second translational position and angular position calculated to reduce the differences between the first and second gait cycle profiles; and moving the mechanical joint to the second translational position and angular position. 23-25. (canceled)
 26. The method of claim 22, wherein the first gait cycle profile is determined by searching a database having stored therein profiles of gait cycles correlating to translational positions and angular positions.
 27. The method of claim 22, wherein the first gait cycle profile is determined by torque forces measured along the posterior/anterior plane and right/left planes.
 28. The method of claim 22, wherein the mechanical joint attaches a prosthesis socket to a prosthesis shank or a prosthesis shank to a prosthesis foot.
 29. The method of claim 22, wherein the mechanical joint comprises a robotic prosthesis alignment device, comprising: a translation assembly comprising a first slide deck and a second slide deck that translates in a different direction to the first slide deck; an angulation assembly comprising a first wedge and a second wedge, each wedge being separately capable of rotation; and one or more drivers to move the first and second slide decks and rotate the first and second wedges.
 30. A surrogate device for transferring an alignment to a prosthesis, comprising: a first wedge comprising marks, wherein the marks are determinative of a position on the wedge; and a second wedge comprising marks, wherein the marks are determinative of a position on the wedge, wherein the first and second wedge are rotationally positionable with respect to each other such that aligning a mark of the first wedge with a mark on the second wedge results in a predetermined angular position. 31-33. (canceled)
 34. A method for maintaining the alignment of a prosthesis, comprising: setting the angular alignment of a prosthesis, wherein the angular alignment is controlled by a robotic device having first and second wedges that are automatically and rotationally positionable with respect to each other; moving the wedges with respect to each other to achieve an alignment; taking a measurement of the positions of the two wedges in the alignment; and assembling a surrogate device having first and second wedges that are assembled to correlate with the measured positions of the wedges of the robotic device to achieve an alignment achieved with the robotic device.
 35. The method of claim 34, further comprising setting the translational alignment of the prosthesis, wherein the translational alignment is controlled by a robotic device having first, second and third slide decks that are automatically and translationally positionable with respect to each other and taking a measurement of the positions of the slide decks, and assembling the surrogate device having two decks that are assembled to correlate with the measured positions of the slide decks of the robotic device. 36-39. (canceled) 